Control method and system of robot based on virtual fixture

A technology of virtual fixture and control method, applied in the field of robot control method and system, can solve the problems of low processing efficiency and safety, lack of virtual fixture control method, and reduced robot operability.

Active Publication Date: 2019-01-11
SHANGHAI ELECTRICGROUP CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to overcome the defects in the prior art that the participation of the virtual fixture reduces the operability of the robot, the processing efficiency and safety during the operation are not high, and

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  • Control method and system of robot based on virtual fixture
  • Control method and system of robot based on virtual fixture
  • Control method and system of robot based on virtual fixture

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Embodiment Construction

[0071] The present invention is further illustrated below by means of examples, but the present invention is not limited to the scope of the examples.

[0072] This embodiment provides a method for controlling a robot based on a virtual fixture, the robot includes a mechanical arm, and a manipulator is provided at the end of the mechanical arm. Such as figure 1 As shown, the control method of this embodiment includes the following steps:

[0073] Step 101. Obtain the pose of the manipulator, where the pose includes data corresponding to the position and pose.

[0074] Step 102. Calculate the shortest distance d according to the pose and the planned processing area.

[0075] In this step, it is also possible to determine the closest point X on the boundary of the planned processing area corresponding to the shortest distance d np .

[0076] Among them, d=‖X-X np ‖=(X-X np )·N np , N np is x np The boundary normal of the point, the direction points to the safe area, and...

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Abstract

The invention discloses a control method and system of a robot based on a virtual fixture. The robot comprises a robot arm, and an operator is arranged at the end of the robot arm. The control methodincludes the steps: calculating the shortest distance d according to the posture and the planned processing area; acquiring a guiding force f acting on the end and decomposing it into a component force fN in the normal direction of the shortest distance d and a component force fT in the tangential direction; when the shortest distance d is less than or equal to a preset threshold value D1 and greater than or equal to 0 and the guiding force f points to the boundary of the planned machining area, calculating the target speed vt of the end according to the following formula: vt=G (f) (fT + c. Tau. FN), c. Tau. = d/D1, G (f) is the admittance coefficient; acquiring a current velocity va of the terminal, and calculating a target acceleration at of the terminal according to the current velocityva and the guiding force f; and controlling the manipulator according to the target speed vt and the target acceleration at. The invention adds an acceleration control loop according to the complex curved surface environment, which ensures the machining efficiency in the operation process and improves the safety of the operation.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and system for controlling a robot based on a virtual fixture. Background technique [0002] Since robots entered the medical field, with the improvement of technical level, robot-assisted surgery has gradually become a hot spot in the research of biomedicine and robotics. Due to the advantages of less trauma, shorter recovery time, and more precise operation, robot-assisted surgery has been applied in many types of surgery. [0003] So far, with the introduction of robots in more complex surgeries, such as neurosurgery, orthopedics, and cardiac surgery, such surgeries have placed greater demands on physician involvement, operational safety, and precision. Judging from the actual research and development and clinical application results, semi-autonomous auxiliary robots based on human-machine collaboration have received the most attention in fields such as orthope...

Claims

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Application Information

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IPC IPC(8): A61B34/30B25J9/16
CPCA61B34/30A61B34/70B25J9/1651B25J9/1679
Inventor 李晓静叶震
Owner SHANGHAI ELECTRICGROUP CORP
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